Toward Swarm Robots Tracking: A Constrained Gaussian Condensation Filter Method

2021 ◽  
pp. 129-136
Author(s):  
Shihong Duan ◽  
Hang Wu ◽  
Cheng Xu ◽  
Jiawang Wan
Keyword(s):  
Filter Method ◽  
Swarm Robots

scholarly journals Precise Localization and Formation Control of Swarm Robots via Wireless Sensor Networks

2014 ◽  
Vol 2014 ◽  
pp. 1-12 ◽  
Author(s):  
Han Wu ◽  
Shizhen Qu ◽  
Dongdong Xu ◽  
Chunlin Chen
Keyword(s):  
Formation Control ◽  
Wireless Sensor ◽  
Filter Method ◽  
Precise Localization ◽  
Global Localization ◽  
Position Information ◽  
Robot Swarm ◽  
Position Errors ◽  
Swarm Robots ◽  
Electronic Tag

Precise localization and formation control are one of the key technologies to achieve coordination and control of swarm robots, which is also currently a bottleneck for practical applications of swarm robotic systems. Aiming at overcoming the limited individual perception and the difficulty of achieving precise localization and formation, a localization approach combining dead reckoning (DR) with wireless sensor network- (WSN-) based methods is proposed in this paper. Two kinds of WSN localization technologies are adopted in this paper, that is, ZigBee-based RSSI (received signal strength indication) global localization and electronic tag floors for calibration of local positioning. First, the DR localization information is combined with the ZigBee-based RSSI position information using the Kalman filter method to achieve precise global localization and maintain the robot formation. Then the electronic tag floors provide the robots with their precise coordinates in some local areas and enable the robot swarm to calibrate its formation by reducing the accumulated position errors. Hence, the overall performance of localization and formation control of the swarm robotic system is improved. Both of the simulation results and the experimental results on a real schematic system are given to demonstrate the success of the proposed approach.

Enhancing the Performance of One Dimensional Median Filter

2019 ◽  
Vol 118 (7) ◽  
pp. 73-76
Author(s):  
Sharanabasappa ◽  
P Ravibabu
Keyword(s):  
Impulse Noise ◽  
Rank Order ◽  
Median Filter ◽  
Filter Method ◽  
Salt And Pepper Noise ◽  
Edge Preservation ◽  
Word Level ◽  
Look Ahead ◽  
Filter Architecture ◽  
Salt And Pepper

Nowadays, during the process of Image acquisition and transmission, image information data can be corrupted by impulse noise. That noise is classified as salt and pepper noise and random impulse noise depending on the noise values. A median filter is widely used digital nonlinear filter  in edge preservation, removing of impulse noise and smoothing of signals. Median filter is the widely used to remove salt and pepper noise than rank order filter, morphological filter, and unsharp masking filter. The median filter replaces a sample with the middle value among all the samples present inside the sample window. A median filter will be of two types depending on the number of samples processed at the same cycle i.e, bit level architecture and word level architecture.. In this paper, Carry Look-ahead Adder median filter method will be introduced to improve the hardware resources used in median filter architecture for 5 window and 9 window for 8 bit and 16 bit median filter architecture.

Improvement of the Zeta-Plus Filter Method for Concentration of Viruses from Water

1991 ◽  
Vol 24 (2) ◽  
pp. 217-220 ◽  
Author(s):  
Kazuyoshi Yano ◽  
Yasuko Yoshida ◽  
Mitsumi Kaneko
Keyword(s):  
Filter Method

The Effectiveness of the Fused Weighted Filter Feature Selection Method to Improve Software Fault Prediction

2016 ◽  
Vol 8 ◽  
pp. 5 ◽  
Author(s):  
Fatemeh Alighardashi ◽  
Mohammad Ali Zare Chahooki
Keyword(s):  
Feature Selection ◽  
Feature Selection Method ◽  
Selection Method ◽  
Machine Learning Algorithms ◽  
Fault Prediction ◽  
Filter Method ◽  
Selection Methods ◽  
Software Projects ◽  
Software Fault Prediction ◽  
Software Fault

Improving the software product quality before releasing by periodic tests is one of the most expensive activities in software projects. Due to limited resources to modules test in software projects, it is important to identify fault-prone modules and use the test sources for fault prediction in these modules. Software fault predictors based on machine learning algorithms, are effective tools for identifying fault-prone modules. Extensive studies are being done in this field to find the connection between features of software modules, and their fault-prone. Some of features in predictive algorithms are ineffective and reduce the accuracy of prediction process. So, feature selection methods to increase performance of prediction models in fault-prone modules are widely used. In this study, we proposed a feature selection method for effective selection of features, by using combination of filter feature selection methods. In the proposed filter method, the combination of several filter feature selection methods presented as fused weighed filter method. Then, the proposed method caused convergence rate of feature selection as well as the accuracy improvement. The obtained results on NASA and PROMISE with ten datasets, indicates the effectiveness of proposed method in improvement of accuracy and convergence of software fault prediction.

scholarly journals Performance evaluation of GPS / BDS combined single-point positioning based on RTKLIB

2020 ◽  
Vol 165 ◽  
pp. 03009
Author(s):  
Li Yan-yi ◽  
Huang Jin ◽  
Tang Ming-xiu
Keyword(s):  
Kalman Filter ◽  
Extended Kalman Filter ◽  
Single Point ◽  
Least Square Method ◽  
Least Square ◽  
Filter Method ◽  
Single System ◽  
Positioning Error ◽  
Dual Mode ◽  
Kalman Filter Method

In order to evaluate the performance of GPS / BDS, RTKLIB, an open-source software of GNSS, is used in this paper. In this paper, the least square method, the weighted least square method and the extended Kalman filter method are respectively applied to BDS / GPS single system for data solution. Then, the BDS system and GPS system are used for fusion positioning and the positioning results of the two systems are compared with that of the single system. Through the comparison of experiments, on the premise of using the extended Kalman filter method for positioning, when the GPS signal is not good, BDS data is introduced for dual-mode positioning, the positioning error in e direction is reduced by 36.97%, the positioning error in U direction is reduced by 22.95%, and the spatial positioning error is reduced by 16.01%, which further reflects the advantages of dual-mode positioning in improving a system robustness and reducing the error.

scholarly journals Changes in Power Plant NOx Emissions over Northwest Greece Using a Data Assimilation Technique

Atmosphere ◽  
2021 ◽  
Vol 12 (7) ◽  
pp. 900
Author(s):  
Ioanna Skoulidou ◽  
Maria-Elissavet Koukouli ◽  
Arjo Segers ◽  
Astrid Manders ◽  
Dimitris Balis ◽  
...  
Keyword(s):  
Power Plant ◽  
Data Assimilation ◽  
Energy Production ◽  
Power Plants ◽  
Transport Model ◽  
A Priori ◽  
Filter Method ◽  
Nox Emissions ◽  
A Posteriori ◽  
Data Assimilation Technique

In this work, we investigate the ability of a data assimilation technique and space-borne observations to quantify and monitor changes in nitrogen oxides (NOx) emissions over Northwestern Greece for the summers of 2018 and 2019. In this region, four lignite-burning power plants are located. The data assimilation technique, based on the Ensemble Kalman Filter method, is employed to combine space-borne atmospheric observations from the high spatial resolution Sentinel-5 Precursor (S5P) Tropospheric Monitoring Instrument (TROPOMI) and simulations using the LOTOS-EUROS Chemical Transport model. The Copernicus Atmosphere Monitoring Service-Regional European emissions (CAMS-REG, version 4.2) inventory based on the year 2015 is used as the a priori emissions in the simulations. Surface measurements of nitrogen dioxide (NO2) from air quality stations operating in the region are compared with the model surface NO2 output using either the a priori (base run) or the a posteriori (assimilated run) NOx emissions. Relative to the a priori emissions, the assimilation suggests a strong decrease in concentrations for the station located near the largest power plant, by 80% in 2019 and by 67% in 2018. Concerning the estimated annual a posteriori NOx emissions, it was found that, for the pixels hosting the two largest power plants, the assimilated run results in emissions decreased by ~40–50% for 2018 compared to 2015, whereas a larger decrease, of ~70% for both power plants, was found for 2019, after assimilating the space-born observations. For the same power plants, the European Pollutant Release and Transfer Register (E-PRTR) reports decreased emissions in 2018 and 2019 compared to 2015 (−35% and −38% in 2018, −62% and −72% in 2019), in good agreement with the estimated emissions. We further compare the a posteriori emissions to the reported energy production of the power plants during the summer of 2018 and 2019. Mean decreases of about −35% and−63% in NOx emissions are estimated for the two larger power plants in summer of 2018 and 2019, respectively, which are supported by similar decreases in the reported energy production of the power plants (~−30% and −70%, respectively).

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